#include <Eigen/Dense>
#include "params.h"

// 机器狗参数
double H_X = 0.715;  // (2.2)
double H_Y = 0.25; // (2.2)
double L_1 = 0.05;  // (2.2)
double L_2 = 0.37;   // (2.2)
double L_3 = 0.40;   // (2.2)
double Mass = 14.4097;   // 质量
// 机器狗惯性张量
double I_B_array[9] = {0.110, 0.000, -0.007,
                           0.000, 0.893, 0.000,
                           -0.007, 0.000, 0.900};

double p_x_offset = -0.018;
double kp = 0.15;

// 控制周期
double DELTA_T_MPC = 0.01; //10ms
double DELTA_T_OTHERS = 0.002; //2ms

// MPC限制条件
double INF = 1e10;
double f_max = 1000.0;
double miu = 0.8;
